cleanup thrust and torque logging

Cargo.toml

@@ -42,3 +42,5 @@ tokio = { version = "1.41.0", features = ["full"] }
 binrw = "0.14.1"
 cyber_rc = { git = "https://github.com/friend0/CyberRC.git" }
 serialport = "4.6.0"
+tempfile = "3.14.0"
+prost = "0.13.3"

config/liftoff_quad.yaml

@@ -23,6 +23,7 @@ quadrotor:
   max_thrust_kg: .5
   arm_length_m: .065
   yaw_torque_constant: .0052
+  serial_port: null
 
 pid_controller:
   pos_gains: # PID gains for position control

src/lib.rs

@@ -722,6 +722,7 @@ impl PIDController {
         let gravity_compensation = Vector3::new(0.0, 0.0, self.gravity);
         let total_acceleration = acceleration + gravity_compensation;
         let total_acc_norm = total_acceleration.norm();
+        // TODO thrust limits
         let thrust = self.mass * total_acc_norm;
         let desired_orientation = if total_acc_norm > 1e-6 {
             let z_body = total_acceleration / total_acc_norm;
@@ -2451,18 +2452,6 @@ pub fn log_data(
             .with_radii([0.1])
             .with_colors([rerun::Color::from_rgb(255, 255, 255)]),
     )?;
-    rec.log(
-        "world/quad/desired_torque",
-        &rerun::Points3D::new([(torque.x, torque.y, torque.z)])
-            .with_radii([0.1])
-            .with_colors([rerun::Color::from_rgb(255, 255, 255)]),
-    )?;
-    rec.log(
-        "world/quad/thrust",
-        &rerun::Points3D::new([(torque.x, torque.y, torque.z)])
-            .with_radii([0.2])
-            .with_colors([rerun::Color::from_rgb(255, 255, 255)]),
-    )?;
     rec.log(
         "world/quad/base_link",
         &rerun::Transform3D::from_translation_rotation(